摘要
结合广义预测控制(GPC)方法和PID反馈结构,设计了一种具有预测功能的PID控制器,PID参数根据未来时刻的预计输出误差进行整定.控制器导出多步控制序列,置于执行器端的延迟补偿器根据网络时延从控制序列中选择控制信息并作用于控制对象,从而对时延进行补偿,使控制性能得到极大改善.控制器结合了PID控制和预测控制的优点,具有较强的鲁棒性和工程意义.最后通过构造Lyapunov函数对闭环系统的稳定性进行了分析,并通过仿真验证了该算法的有效性.
Combined with generalized predictive control（GPC） method and PID feedback structure, a PID controller which has predictive function is presented. The PID parameters can be adjusted according to the future output error. The controller outputs a series of multi-step control sequence. According to network time delay, the delay compensator picks out control signal from the sequence to compensate time delay, so the system performance can be improved greatly. Combining the advantages of PID control and predictive control, the controller has strong robustness. Finally, the stability of the closed-loop system is analyzed, and simulation results show the effectiveness of the proposed algorithm.
出处
《控制与决策》
EI
CSCD
北大核心
2012年第8期1231-1236,共6页
Control and Decision
基金
国家自然科学基金项目(60974090)
关键词
网络控制系统
PID控制
预测控制
随机时延
networked control system
PID control
predictive control
random time delay
